Control-Scheduling Codesign of Real-Time Systems: The Control Server Approach

Anton Cervin, Johan Eker

Research output: Contribution to journalArticlepeer-review


The paper presents the control server, a real-time schedulingmechanism tailored to control and signal processing applications. Acontrol server creates the abstraction of a control task with aspecified period and a fixed input-output latency shorter than theperiod. Individual tasks can be combined into more complexcomponents without loss of their individual guaranteed fixed-latencyproperties. I/O occurs at fixed predefined points in time, at whichinputs are read or controller outputs become visible. The controlserver model is especially suited for codesign of real-time controlsystems. The single parameter linking the scheduling design and thecontroller design is the task utilization factor. The proposedserver is an extension of the constant bandwidth server, which isbased on the earliest-deadline-first scheduling algorithm. Theserver has been implemented in a real-time kernel and has also beenvalidated in control experiments on a ball and beam process.
Original languageEnglish
Pages (from-to)209-224
JournalJournal of Embedded Computing
Issue number2
Publication statusPublished - 2005

Subject classification (UKÄ)

  • Control Engineering


  • constant bandwidth server
  • real-time components
  • design methodology
  • Feedback control
  • real-time scheduling


Dive into the research topics of 'Control-Scheduling Codesign of Real-Time Systems: The Control Server Approach'. Together they form a unique fingerprint.

Cite this